Module 9 Super Team / Mbed 2 deprecated hookey_controller

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Dependencies:   EMG1 PIDController1 compute mbed InBetweenController PinDetect QEI

Diff: main.cpp

Revision:
3:0634f55c2021
Parent:
0:5f9d8f2142b6
Child:
4:e021dacffa24
--- a/main.cpp	Tue Oct 20 09:05:47 2015 +0000
+++ b/main.cpp	Tue Oct 20 09:44:30 2015 +0000
@@ -1,16 +1,35 @@
 #include "mbed.h"
 #include "emg.h"
-#include "compute.h"
+#include "inbetweencontroller.h"
+#include "pidControl.h"
+
+// Define Objects
+Ticker      sample_timer;
+double      lastA;
+double      lastB;
 
-void tick()
-{
-    sample();
+void tick() {
+    // EMG Reader
+    double output0 = sample(0);
+    double output1 = sample(1);
+    double output2 = sample(2);
+    
+    // In Between Controller
+    double nexta, nextb;
+    newPos(output0, output2, output2, lastA, lastB, nexta, nextb);
+    
+    lastA = nexta;
+    lastB = nextb;
+    
+    move(nexta,nextb);
 }
 
 int main()
 {
-    while (true) {
-        tick();
-        wait(1);
-    }
+    init();
+    initialize();
+    // Attach a timer to the function 'Sample' which fires every 0.002 seconds.
+    sample_timer.attach(&tick, 0.002);
+    
+    while(1) { }
 }
\ No newline at end of file